CN1718152A - Detector external magnetic field driving apparatus and method in the body - Google Patents
Detector external magnetic field driving apparatus and method in the body Download PDFInfo
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Abstract
The invention discloses detector external magnetic field driving apparatus and method in the body.Comprise magnetic Micro-Robot and embedded magnetic thereof, processing center, operation of diagnosis and treatment device and external driver device.Utilize comparatively uniform gradient magnetic on the built-up coil system structure spatial sense, control gradient magnitude and direction by adjusting loading current and coil sections jointly for the relative motion of human body, act on the space vector power of built-in magnetic to obtain to expect of magnetic Micro-Robot, and then realize the motion of expectation.The friction that the external magnetic field driving method does not rely between micromagnetism Micro-Robot and the tissue is advanced, and uniform gradient has avoided the action of a magnetic field down because the stressed sudden change that the displacement of magnetic Micro-Robot causes, therefore the drive system that proposes has good safety and controllability, lays a good foundation for further studying gradient magnetic driving body lumen tube magnetic Micro-Robot.
Description
Affiliated field the present invention relates to the medical apparatus and instruments automatic field, detector external magnetic field driving apparatus and method in particularly a kind of body.
Technical background is along with the development of MEMS technology, and people wish to utilize Micro-Robot to enter human body to carry out noinvasive or Wicresoft's diagnosis and treatment.Wired system is more suitable for nearly table of body or short stroke occasion because lead leads and disturbs.For ease of particularly gastral traversal inspection of intracoelomic cavity pipe and operation, people study wireless mode.The wireless capsule scope is the digestive tract examining equipment that developed recently gets up, its basic feature is the digestive tract image that wireless transmission is taken with the little photographic head of capsule, and its representative products is the M2A and the breadboard Norika series of Japanese RF System of Israel Given Imaging company.
With the wireless capsule scope is that platform is set up micro Manipulator System in the body, can realize that digestive tract environment such as temperature, pH value detect, but dispenser, sampling, and adding behind the micromanipulator can be voluntarily or auxiliaryly finish particular procedure, and very vast potential for future development is arranged.
These capsule endoscope products all utilize digestive tract to wriggle naturally and travel through whole inspection area at present, and expectation is finally discharged with Excreta.But gastral peristalsis is very limited to the progradation of capsule endoscope, and whole checking process is slow and uncontrollable, and for example the review time of M2A reaches 8 hours, and loss is also quite high, can incarceration take place in addition and is detained human body.These deficiencies have restricted the scope of application, treatment effect and the function expansion of capsule endoscope, therefore are necessary the drive environment in conjunction with robot, add to drive control safely and effectively on existing basis.
Move the active traversal that driving realizes Micro-Robot in the body, its quantity of motion is big, energy consumption is high, thereby is different from the microoperation driving that realizes functions such as operation.Microoperation can drive functional material by the integrated exciting bank of body, perhaps utilizes the integrated electromagnetic driving system of body to realize.Because the tortuous complexity of digestive tract, surperficial stick-slip, many grooves and pleat, therefore not ideal for the multiple macroscopic view that realizes traveling through in the body, complexity and heavy motion with upper type.The huge consumption that move to drive makes proper year energy or wireless energy supply can't satisfy Micro-Robot and finishes other functions, as takes pictures or make a video recording, driving, image transmission and even dispenser, gets the total energy demand of biopsy, operation etc.Therefore be necessary to seek the external drive mode to reduce the body energy consumption.
Directly utilize outer field excitation can effectively reduce Micro-Robot body energy consumption.The Micro-Robot that people such as the Toshio Fukuda of Japan Nagoya university make utilizes the magnetostriction alloy mechanism under the external magnetic field driving to realize creeping in the microchannel.But the outfield exiting form is single, relies on the material deformation due to the outfield to be difficult to finish multiple action request merely.
External magnetic field is strong and two kinds of effects of torque to magnetic bodies, and it is in fact more simple and effective to utilize this direct magnetic force or torque to drive, and has significantly reduced Micro-Robot body energy consumption.In addition, the microoperation of robot can separate and the influence of a driving magnetic field outside not being subjected to mobile the driving as sampling, spray medicine, lens focus adjusting etc.
People such as the M.Sendoh of northeastern Japan university propose to utilize similar three Helmholtz coils that space rotating magnetic field is provided, and the control loading current acts on the embedded magnet of capsule to adjust magnitude of field intensity and direction, precession under capsule surface spiral lamination promotes.The Norika3 capsule can axially rotate, and its built-in electromagnetic coil provides rotating excitation field by overcoat that the person under inspection wears.But its Rotation Design is in order to increase the visual field to reduce omission, because the outfield direction of rotation is single and inhomogeneous, to drive poor effect when being converted to precession.
In fact precession mode has certain defective: spiral lamination makes swallows, discharges inconvenience and may cause damage when peristalsis of the digest tract; Digestive tract mostly is long tube-like thin-wall, many grooves, pleat, and precession may make digestive tract partly reverse to cause pain or damage; Each section of digestive tract diameter differs, and is also different with the capsule contact condition, and digestive tract content residue may be clogged thread pitch simultaneously, therefore is difficult to guarantee the efficient of precession.
Therefore we propose directly to utilize the outfield magnetically-actuated.The mobile driving that utilizes main body mechanism to carry out mostly, as creeping motion type, wheeled, crawler type, impact type, screw type etc., must rely on and subject between friction advance.Wish to reduce this friction when utilizing direct magnetic force, this is consistent with the security consideration that drives.Need not the integrated actuating mechanism of body and make that also the robot architecture obtains simplifying.Adopt medicine to suppress the part peristalsis of the digest tract when digestive tract examining and operation, and guarantee that Micro-Robot contact surface good lubrication will help driving.Driving should avoid causing tissue injurys such as mucosa as far as possible; Owing to have various disturbances such as peristalsis of the digest tract, sneeze, cough, have the hiccups etc., the person under inspection also can move naturally as slightly moving Micro-Robot opposing disturbance better performances when this requires the outfield to drive in addition.
The gradient of general externally-applied magnetic field sharply changes with operating distance, and the micro-displacement of robot also may cause stressed sudden change, makes location, control and security performance worsen, even " sneeze is decreased the ring intestinal wall ".The torque in magnetic field is very important in addition, and the big twisting resistance that is subjected in the driving process is a potential danger.
The gradient tensor of the suffered magnetic force of robot and externally-applied magnetic field and the intensity of magnetization of embedded magnetic are relevant, suffered magnetic torque relevant with the intensity of magnetization of field intensity and embedded magnet (formula 1).If the embedded magnet of embedded magnetic Micro-Robot, then the intensity of magnetization can be considered constant, at this moment can rely on the suitable external magnetic field environment of structure to drive fully.
The driving of robot promptly will be constructed suitable space magnetic field and be distributed, and utilizes built-up coil can obtain uniform magnetic field intensity or uniform magnetic field gradient.The simplest shim coil is a Helmholtz coil, and it is that a pair of radius is R, at a distance of L=R and collude electric current loop to electric current, can form axial magnetic field very uniformly, and its radial component can be ignored.The simplest gradient coil is that Maxwell is right, and its radius is R, apart
Logical reverse current, can form the center field intensity is zero uniform gradient, and axial gradient is about radial twice.Nonaxisymmetrical coil, for example the reasonable combination of square coil also can reach effect same.
The shim coil of practical application all has multiple different form and method for designing with gradient coil.For example gradient coil is similar to NMR (Nuclear Magnetic Resonance)-imaging (MRI) gradient coil, and its kind can be divided into two kinds of vertical and horizontal by the relative direction with main field.If the MRI main field be z to the field, then only need to consider to the effective g of imaging
Zb(b=x, y, z) component (formula 2).Coil distribution generally forms by the simulate ideal surface current, wherein g
ZzProduced by vertical gradient coil, it is right that the formation principle of its gradient is similar to Maxwell; g
Zx, g
ZyProduced by horizontal gradient loop, lead mostly is streamlined distribution or is made of discontinuous different electric current sections.Drive coil is formed by various forms of coil combination, and practical is cylinder coil and planar coil.The general built-up coil that adopts the cylinder form, each is organized coil and is layering, and can form comparatively compact structure.
In fact, horizontal gradient loop does not produce transverse gradients merely, and vertically gradient coil does not produce vertical gradient merely yet; Different with MRI, when the magneticaction of compute gradient coil, need omnirange to consider the contribution of each component of gradient tensor.
Owing to there is not so-called main field when driving, be the used coil of difference MRI, we press drive coil and divide with respect to the direction of human body (or saying sick bed) longitudinal axis: mainly provide the magnetic field intensity of human body (sick bed) y direction or the coil of magnetic field gradient to be called axial coil, mainly provide perpendicular to the magnetic field intensity of human body (sick bed) y direction or the coil of magnetic field gradient to be called radial coil.
Gradient coil constructs more uniform gradient fields in the certain space scope, in this scope, under the same loading current, the suffered magnetic force of magnetic Micro-Robot has nothing to do with its position basically, so just can resist bigger disturbance; By changing the loading current of gradient coil, we can obtain the gradient of different size and Orientations, affact the magnetic force that just obtains different size and Orientations in the robot.But because gradient coil changes in the field intensity direction of diverse location, institute's torque suspension can change during the robot motion, can cause the non-hope of robot to be reversed under enough big situation, and then makes the stressed change of robot.Guarantee the two kinds of schemes that do not twist when the robot location changes: one provides the space relative translation degree of freedom between coil system and the examinee, makes robot be positioned at low place all the time; The 2nd, utilize shim coil to make the skew of low place and initiatively follow robot, even directly adjust field intensity make it with the intensity of magnetization of robot embedded magnet in the same way.
We combine two kinds of schemes, promptly utilize the mechanism kinematic and the gradient coil magnetic field of coil to obtain to advance driving force, utilize the mechanism kinematic of sick bed and the field intensity size that shim coil is adjusted the robot position jointly, thereby adjust the suffered magnetic torque of robot.The drive coil zone of action is considered as passive region, and different gradient coils can produce different Distribution of Magnetic Field, but after the contribution of the magnetic field of synthetic each gradient coil, still has big dependency between each component of magnetic field gradient tensor.Need omnirange to consider the contribution of each component of gradient tensor owing to calculate magneticaction, these components can be subdued each other to the contribution of magnetic force under a lot of situations, therefore adopt different coil combination and loading current adjustment thereof in the hope of obtaining the method poor effect of any direction magnetic force fully.We utilize the certain movement of coil and sick bed for this reason, and collaborative adjustment to the coil loading current can obtain suitable driving magnetic field.Like this, under magnetic force of determining and magnetic torque effect, the motion of robot can be controlled preferably.
The present capsule endoscope of summary of the invention relies on peristalsis to advance in digestive tract fully, there is not safe and practical active wireless driving method, uncontrollability has restricted the scope of application and the result of use of capsule endoscope, make with similar wireless endoscope to be platform, the technological expansion of diagnosis and treatment Micro-Robot can't realize in multi-functional body.
The objective of the invention is to design a kind of detector external magnetic field driving apparatus and method that intracoelomic cavity pipe traversal is checked that can be used for, utilize the magnetic field environment that built-up coil structure gradient is even, the spatial point field intensity is adjustable, and adjust magnetic field by the corresponding sports that changes coil loading current and coil and sick bed, act on the embedded magnet of Micro-Robot to reach the purpose of Micro-Robot in the control volume externally.This system can realize that the wireless controlled diagnosis and treatment of Micro-Robot lay the foundation in the body for final.
Technical scheme of the present invention is: detector external magnetic field driving apparatus in a kind of body, comprise that soft shell is built-in with the little photographing module of electrical connection and the magnetic Micro-Robot of unlimited transmitter module, and the external driver of reception that is electrically connected mutually and processing center composition, it is characterized in that:
1.1, said magnetic Micro-Robot is built-in with the embedded magnet of Micro-Robot;
1.2, said external driver also comprises mobile sick bed and is set in its outer drive coil, and operation of diagnosis and treatment device, wherein, drive coil constitutes by the coil of advancing, pitching coil and deflection coil are stacked mutually, and said coil, mobile sick bed and operation of diagnosis and treatment device are electrically connected with processing center.
Described magnetic Micro-Robot is built-in with the internal microprocessor that is electrically connected with unlimited transmitter module.
Described mobile sick bed is positioned on the base, and is connected movingly with it, and coils actuator and base are fixedly connected.
Described drive coil is positioned on the coil brace, and is connected movingly with it, and coils actuator and coil brace are fixedly connected.
The described coil of advancing is the cylinder of semicircle arcuation, and it is cylindrical axially parallel with the moving direction of mobile sick bed.
Described pitching coil is symmetric lunette shape, lays respectively at the both sides of mobile sick bed moving direction.
Described deflection coil is cylindrical birdcage shape, and it is columniform axially parallel with the moving direction of mobile sick bed.
Described operation of diagnosis and treatment device is the three-dimensional manipulating bar, wherein, the dimension of advancing of three-dimensional manipulating bar, pitching peacekeeping deflection dimension are electrically connected with processing center through analog-digital converter respectively, and the outfan of processing center is electrically connected with the coil of advancing, pitching coil and deflection coil respectively through digital to analog converter.
Be electrically connected with the coil drive power supply between the described digital to analog converter and the coil of advancing, pitching coil and deflection coil.
The driving method of detector external magnetic field driving apparatus in the described body comprises the signal that receives the magnetic Micro-Robot and the signal output that comes the control volume outer driver thus, it is characterized in that:
Set the initial parameter of advance coil, pitching coil, deflection coil and mobile sick bed respectively, and the corresponding work timeslice, the time reference of a time-sharing work of generation;
After above-mentioned work slice finishes, according to the signal of little photographing module and internal microprocessor, and the output of operation of diagnosis and treatment device, determine the operating current and the anglec of rotation of the displacement of mobile sick bed, advance coil and pitching coil, deflection coil.
The shell of described magnetic Micro-Robot is made into capsule shape, the two ends slyness, middle no projection and groove, do not form the edge angle, adopt on the surface, and medical material slick, that have certain toughness and flexibility coats, friction to tissue is less, does not cause injury of human when active exercise and peristalsis of the digest tract, part such as the embedded magnetic of magnetic Micro-Robot internal integration, image collection module, internal microprocessor, wireless communication module (part that other and native system have nothing to do is at row);
The embedded magnetic of described magnetic Micro-Robot has definite intensity of magnetization M, as shown in Equation (1), it externally drives the magnetic Micro-Robot under the effect in magnetic field, wherein, externally magneticaction drive magnetic Micro-Robot body is advanced due to the magnetic field gradient, externally the magnetic torque effect drives magnetic Micro-Robot tilted deflecting down to adjust attitude due to the magnetic field intensity, add the stability that the ferromagnetism Micro-Robot is advanced simultaneously, described image collection module, internal microprocessor, wireless communication module is electrically connected by flexible PCB, the digestive tract environment image that photographic head in the image collection module photographs, be used to read by internal microprocessor, buffer memory, and control wireless communication module transmitted image information is to outside processing center, necessary timesharing control is realized at the associated treatment center simultaneously, to reduce outer driving coil to magnetic Micro-Robot internal electromagnetic, the interference of circuit module.
In addition, in the described magnetic Micro-Robot, the effective object of external magnetic field is embedded magnetic, drive any structure feature that does not rely on magnetic Micro-Robot itself, embedded magnetic adopts embedded magnet of magnetic Micro-Robot or the little coil of electromagnetism, wherein when adopting the little coil of electromagnetism of one or more direction configurations, the loading current that changes little coil is equivalent to loading current variation or external agency's motion of external magnetic field to a certain extent, carries the energy or wireless energy supply but need consume body with the little coil of electromagnetism.
Described processing center is responsible for the switch of whole system, initialization and overall the driving are controlled, it comprises central processing unit and peripheral hardware equipment, software program, peripheral hardware equipment comprises data acquisition equipment (reception antenna and pick off), memory device, display device, input terminal, various data and signal line and interface, it connects magnetic Micro-Robot position detecting device, the motion actuating unit, coil power and operation of diagnosis and treatment device, receive picture signal, magnetic Micro-Robot position detection signal, coil movement and current feedback, bed motion feedback and operation of diagnosis and treatment device control signal generate coil current and load, coil rotatablely moves and the control signal of bed motion.
Described operation of diagnosis and treatment device comprises base, rudder stock, shift knob and slider, rudder stock can be done the secondary rotation of ball, slider can linearly be adjusted driving force and doubly be worth, the actuating signal that the operation of diagnosis and treatment device is used to indicate the deflection of magnetic Micro-Robot, pitching, stop and advancing etc., adjustment to the driving force size is provided simultaneously, and its control signal is implemented in coil movement actuating unit and coil power by processing center.In addition, described operation of diagnosis and treatment device assembling magnetic torque effect switch, to whether adopting the auxiliary magnetic Micro-Robot attitude of adjusting of magnetic torque to set, described bed motion executor stops the automatic control by processing center during switch open, and provide the control signal of bed motion to import by the treated center of operation of diagnosis and treatment device, other assembles emergency switch, in emergency circumstances cuts off coil power immediately, closes driving magnetic field and causes safety hazard with the incident of preventing an accident.
Described magnetic Micro-Robot position detecting device is made by Magnetic Sensor, detect the vector position information and the attitude information of Micro-Robot when driving, offer processing center, position-measurement device is by magnetoresistive transducer, or Hall element is made, calculate the spatial positional information of embedded magnet and the direction vector of intensity of magnetization M thereof by the processing center processing, to realize the control of position and attitude, its detection scheme comprises two kinds:
1. position detecting device adopts three-dimensional Magnetic Sensor, be incorporated into magnetic Micro-Robot inside, position relative fixed between pick off and the embedded magnet, embedded magnet is constant to the magnetic field contribution at sensor measurement place, sensor external coil magnetic field, gather dynamic field intensity signal and come out by the wireless communication module wireless transmit, the uniform gradient feature of known external magnetic field has been set up the strong linear relationship between magnetic field intensity and the locus, and the magnetic field intensity information that is obtained by detection obtains magnetic Micro-Robot spatial positional information easily;
2. position detecting device adopts array of magnetic sensors, is distributed in sick bed or examinee's body surface, and externally driving magnetic field weakens the variation of the embedded magnet vector of gap detection magnetic Micro-Robot field intensity value, finally obtains magnetic Micro-Robot positional information.
Described sick bed is non magnetic sick bed, and is slightly wideer than human body shoulder, and sick bed is not influenced by driving magnetic field yet and driving magnetic field do not produced interference, and the examinee couches on this sick bed, and sick bed can be pushed to the drive coil active region with the examinee along its longitudinal axis translation.
Described drive wire corral cover inspection person is examined the position, and external drive magnetic field is provided, and coil surface attaches Hall element to obtain the loading current signal feedback.Drive coil provides electric current to load by coil power, and as the description of formula, the magnetic field environment of its structure and its loading current are broadly linear.Drive coil is by the coil of advancing, pitching coil and three kinds of coils of deflection coil group are stacked constitutes, the similar MRI coil of its manufacture method (comprising gradient coil and radio-frequency coil), the filling insulating barrier is so that not conducting and reinforcing each other, the lamination order no requirement (NR), three kinds of coils are made of one, and rotate around sick bed longitudinal axis integral body under the coil motion actuators drives, or three kinds of coils are made isolating construction, only gradient coil or add other coil of top rotates around the sick bed longitudinal axis.Wherein said pitching coil, be respectively applied for and provide sick bed axially and gradient; Described deflection coil group provides the component of the field intensity on the shaft section, is used to adjust the radially field intensity of magnetic robot position.In addition, can not use deflection coil in the described drive coil, λ=0 in formula this moment (7), the adjustment of magnetic torque relies between sick bed and the drive coil relative translation at three-dimensional fully, the variation of p is just finished, and stability that drive this moment and controllability reduce, for the auxiliary adjustment capability reduction of magnetic Micro-Robot attitude, and, make the volume of coil increase because D translation requires the more freedom space.
Described motion actuating unit comprises coil movement executor and bed motion executor, and drive coil is by stent support, and is accurately rotated around sick bed by the coil movement actuator driven, and its value is with the tolerance of the γ in formula (4); Sick bed is by stent support, utilize the kinds of drive such as leading screw, along the accurate translation of self axis, its value is the component of p on the sick bed axis in the formula (5) by the bed motion actuator driven, and wherein bed motion executor's translational motion can directly be controlled by processing center automatically.The driving magnetic field environment is controlled in the loading current adjustment of above mechanism kinematic coordinated drive coil jointly.
Described coil power under the control of processing center, can carry out that the multichannel electric current loads and the adjustment of real-time current value, and from invest on the coil Hall element or the current signal feedback.Its loading current value is represented with vectorial IG and the IB in the formula (5).
Described coil brace and base are fixed in ground, difference support coils and sick bed, and the motion actuating unit is installed on the coil brace.
Driving magnetic field acts on the magnetic Micro-Robot that contains embedded magnet, the magnetic Micro-Robot is moved under the direct force of controlled gradient magnetic and moment loading, under magnetic field control, can finish effectively advance, stop, action requests such as pitching, deflection, thereby can locate the emphasis section and suspect that section carries out scrutiny and treatment to the examinee.
Correlation formula:
F＝∫
V(M·)Bdv T＝∫
VM×Bdv
F＝VG·M T＝VM×B (1)
·B＝0 ×B＝0
g
xx+g
yy+g
zz＝0 g
ab＝g
ba(a≠b) (3)
G＝κI
G；B＝Gp+λI
B (5)
VκI(C
TM)＝C
TF (6)
VM×[C(κI
Gp+λI
B)]＝T (7)
Formula (1) wherein: the action of a magnetic field power and torque formula, wherein F is a magnetic force; T is a magnetic torque; V is embedded magnet volume; M is the intensity of magnetization of embedded magnet; B is an external magnetic field magnetic induction; Less in this formula owing to the embedded magnet of magnetic Micro-Robot, thereby suppose that field intensity and gradient thereof are at the inner uniform distribution of magnetic Micro-Robot;
(2): G is the magnetic field gradient tensor, a in the formula, and b gets x, y, arbitrary value among the z, this drive system promptly obtains suitable G by built-up coil and relative motion thereof, produces suitable driving force thereby act on the embedded magnet of magnetic Micro-Robot;
(3): only consider outer driving coil magnetic field, obtain each component of coil magnetic field gradient tensor according to Maxwell magnetostatic field equation high correlation is arranged, this dependency of being represented by this formula causes static coil to be difficult to obtain the magnetic force of any direction, therefore we have designed the drive scheme of the relative human body of coil (sick bed) motion, consider organization of human body, this motion is designed to rotate around human body (sick bed);
(4): coil is around the spin matrix of human body (sick bed) rotation, and wherein γ is the anglec of rotation, and its rotating shaft is along the sick bed axis, sets with clockwise for just;
(5): with the magnetic field descriptive equation of loading current phase relation, wherein p is the position vector that brand new Micro-Robot position P leaves the drive coil center; G is the gradient tensor sum that each coil is ordered at P; B is the magnetic induction at P point place; κ, λ are respectively the constant with gradient coil and shim coil self parameter correlation, and wherein κ is three rank constant matricess, and λ is a constant vector; IG and IB are respectively the vector of the each several part loading current composition of gradient coil and shim coil;
(6):, show available spin matrix C and gradient coil loading current IG control magnetic force size with the magnetic force descriptive equation of loading current phase relation.
(7): with the magnetic torque descriptive equation of loading current phase relation, this formula shows available spin matrix C, sick bed translation (influencing p) and gradient coil loading current IG control magnetic torque size for each coil is made of one the situation of common rotation.
The invention has the beneficial effects as follows:
By with combination such as magnetic field technique, sensing technology, image technique, electric power technology and be applied to noinvasive diagnosis and treatment field, drive control with the external wireless that realizes magnetic Micro-Robot in the body;
Active drive has been reduced the inspection required time, and has reduced loss, makes diagnosis and treatment convenient and efficient.
The uniform gradient field that gradient coil produces makes drive system can resist big disturbance, and deflection coil can be adjusted the field intensity of magnetic Micro-Robot position, reverses thereby suppress its non-hope, has improved driving safety and reliability.
Can initiatively reduce the power effect between magnetic Micro-Robot and the subject when utilizing direct magnetic force, check sense of discomfort to reduce;
The magnetic Micro-Robot can be finished action requests such as translation, pitching, deflection effectively under the control of magnetic field, thereby can locate the emphasis section and suspect that section carries out scrutiny and treatment, has strengthened the effectiveness of its diagnosis and treatment;
Can further expand the treatment function such as dispenser, sampling, operation of magnetic Micro-Robot, improve its diagnosis and treatment ability.Be not only applicable to body cavity of organism pipe ring border, be fit to interior driving of multiple nonmetal pipeline of various calibers yet, wider range of application is arranged.
Description of drawings
Below in conjunction with drawings and Examples patent of the present invention is described further.
Fig. 1 is that Helmholtz coil and Maxwell are to the magnetic signature sketch map.
Fig. 2 is detector external magnetic field driving apparatus and a method structural representation in the body;
Fig. 3 is a driving device entity sketch map;
Fig. 4 is that drive coil 7 constitutes illustration;
Fig. 5 is other formation illustrations of drive coil;
Fig. 6 is the part nuclear magnetic resonance, NMR pitching coil sketch map of practical application.
Fig. 1 is that Helmholtz coil and Maxwell are to the magnetic signature schematic diagram. Helmholtz coil is one Pair radius is R, at a distance of L=R and collude electric current loop to electric current, can form very uniformly axial magnetic field, And its radial component can be ignored. Maxwell's pair radius is R, apart Logical reversing the current, energy Enough forming the center field intensity is zero uniform gradient, and axial gradient is about twice radially, Maxwell among the figure To only showing bright axial magnetic field Bz.
Fig. 2 is the external driver device structural representation, and Fig. 3 is drive unit entity schematic diagram.
In conjunction with described Fig. 2 and Fig. 3, wherein 1: the magnetic Micro-Robot; 2: processing center; 3: diagnosis and treatment Operator; 4: external driver device; 5: robot location's checkout gear; 6: sick bed; 7: drive coil; 8: the Motor execution device; 9: coil power; 10: coil brace; 11: base; 12: alimentary canal.
Described magnetic Micro-Robot 1 comprises embedded magnet 1a, wireless transmitter module 1b, inner little place The parts such as reason device 1c, little photographing module 1d.
Described Motor execution device 8 comprises 8a: the coil movement actuator; 8b: bed motion is carried out Device.
Fig. 4 is that drive coil 7 consists of illustration, and described drive coil 7 comprises 7a: the coil of advancing; 7b: The pitching coil; 7c: the cylinder deflection coil group (birdcage coil) that horizontal field intensity is provided. Here axially Radially axially divide with respect to sick bed, be different from the statement of malcoils.
Fig. 5 is other formation illustrations of drive coil, is the axial symmetry coil among the figure, and wherein 2 pairs of the insides are The Maxwell of multiturn multilayer couple, 2 pairs of outsides are the Helmholtz coils of multiturn multilayer.
Fig. 6 is the part nuclear magnetic resonance gradient coil schematic diagram of practical application, is followed successively by horizontal cylinder gradient line Circle A, vertical cylinder gradient coil B, transverse plane gradient coil C, fore-and-aft plane gradient coil D is driving Can be used as reference during the moving winding design.
The specific embodiment
In Fig. 2, magnetic Micro-Robot 1, operation of diagnosis and treatment device 3 and external driver device 4 all link to each other with processing center 2.Wherein magnetic Micro-Robot 1 is swallowed by the examinee, carry out wireless telecommunications with external treatment center 2 after entering digestive tract, operation of diagnosis and treatment device 3 is implemented control by motion actuating unit 8 in 2 pairs of external driver device 4 of processing center and coil power 9, and is carried out by sick bed 6, drive coil 7.
Magnetic Micro-Robot 1 is made into capsule shape, the two ends slyness, middle no projection and groove, do not form the edge angle, adopt on the surface, and medical material slick, that have certain toughness and flexibility coats, friction to tissue is less, does not cause injury of human when active exercise and peristalsis of the digest tract, is fit to swallow, travels through digestive tract and final the drainage.
Part such as the embedded magnetic 1a of magnetic Micro-Robot internal integration, image collection module 1b, internal microprocessor 1c, wireless communication module 1d (part that other and native system have nothing to do is at row), wherein back three parts are actually one, and are electrically connected by flexible PCB.
Described embedded magnetic 1a is positioned at magnetic Micro-Robot middle part, adopts the NdFeB magnet to make, and cylindrically is filled in the flexible PCB gap, or is made into needle-like and is filled in gap between circuit board and the housing.Embedded magnetic 1a has definite intensity of magnetization M, it externally due to the magnetic field gradient magneticaction drive magnetic Micro-Robot body down and advance, externally the magnetic torque effect drives magnetic Micro-Robot tilted deflecting down to adjust attitude due to the magnetic field intensity, adds the stability that the ferromagnetism Micro-Robot is advanced simultaneously.In addition, in the described magnetic Micro-Robot 1, the effective object of external magnetic field is embedded magnetic 1a, drives any structure feature that does not rely on magnetic Micro-Robot itself.Embedded magnetic 1a also can adopt the little coil of electromagnetism of one or more direction configurations, the loading current that changes little coil is equivalent to loading current variation or external agency's motion of external magnetic field to a certain extent, carries the energy or wireless energy supply but need consume body with the little coil of electromagnetism.Described image collection module 1b is positioned at the head of magnetic Micro-Robot, and its photographic head adopts CMOS or CCD, the digestive tract environment image information of shooting by internal microprocessor 1c read, buffer memory, and be sent to outside processing center 2 by little photographing module 1d.Necessary timesharing control is realized at wireless transmitter module 1c associated treatment center 2, when driving to reduce external coil 7 to the interference of magnetic Micro-Robot internal electromagnetic, circuit module.Among described little photographing module 1d antenna element be around in the flexible PCB periphery, near magnetic Micro-Robot 1 shell place.
Described processing center 2 is by computer workstation and relevant software and hardware structure, as the concentrated area of each data and signal, provide magnetic Micro-Robot 1 in the medical care operator operating body with reference to the interface.
Described image information operation operation of diagnosis and treatment device 3, actuating signals such as deflection, pitching being provided, stopping and advancing also has magnetic torque effect switch, magnetic field emergency cut-off switch in addition.The auxiliary attitude adjustment instruction of the magnetic torque of operation of diagnosis and treatment device 3 has higher priority than the automatically low place adjustment instruction of processing center 2, when being necessary to utilize the auxiliary adjustment of magnetic torque effect magnetic Micro-Robot attitude, can opening magnetic torque effect switch and manually adjust deflection coil group 7c loading current.
Described magnetic Micro-Robot position detecting device 5 is by magnetoresistive transducer, or Hall element is made, and two kinds of detection schemes are arranged, and promptly detects external coil or detects the embedded magnet vector of magnetic Micro-Robot field intensity value.Information that detection obtains and known magnetic field spatial distribution are made comparisons, and handle and calculate the positional information of magnetic Micro-Robot 1 and the direction vector of intensity of magnetization M thereof, offer processing center 2.When measuring embedded magnets magnetic fields mode, position detecting device 5 adopts array of magnetic sensors, be distributed in sick bed or examinee's body surface, externally driving magnetic field weakens the variation of the embedded magnet vector of gap detection magnetic Micro-Robot field intensity value, the final magnetic Micro-Robot positional information that obtains, what represent among Fig. 2 is exactly this mode; Or with measuring the external coil magnetic approach, position detecting device 5 is made three-dimensional Magnetic Sensor, be incorporated into magnetic Micro-Robot 1 inside, position relative fixed between pick off and the embedded magnet, embedded magnet is constant to the magnetic field contribution at sensor measurement place, sensor external coil magnetic field, gather dynamic field intensity signal and come out by little photographing module 1d wireless transmit, the uniform gradient feature of known external magnetic field has been set up the strong linear relationship between magnetic field intensity and the locus, and therefore the magnetic field intensity information that is obtained by detection obtains magnetic Micro-Robot spatial positional information easily.
Described sick bed 6 is non magnetic sick bed, is driven coil 7 and coats, and along with the difference of drive coil form, sick bed 6 and drive coil 7 all have corresponding different motion form, and we are designed to the sick bed translation according to organization of human body at this.
Described drive coil 7 provides the external magnetic field, by the pitching coil with the deflection coil group is stacked constitutes, obtains the loading current signal feedback by Hall element.Require to reduce each coil during design to the subduing mutually of Robot Force effect, coil power loads different electric currents by control requirements respectively to each group coil, obtains different magnetic field size and distribution.Current Control can be from each coil dress Hall element to obtain feedback.Suppose that coil space (can hold maximum column diameter) is 60cm, magnetic Micro-Robot gross weight 5 grams, embedded about 1.8g (246mm3) NdFeB magnet, its intensity of magnetization is 106A/m, the magnetic Micro-Robot that then picks up these 5 grams needs the gradient of 0.2T/m at least, this will require to drive the magnetic Micro-Robot and load big electric current, and therefore making and the coil power to coil has higher requirements.
In drive coil configuration example shown in Figure 4, three groups of coils all adopt the cylinder form, and structure is comparatively compact.Drive coil is with reference to the coil design among the MRI, and wherein the 7a coil of advancing is positioned on the sick bed axial direction, and it mainly provides axial gradient, and it also has the gradient component simultaneously; 7b faces upward the coil of bowing and is positioned at sick bed 6 in a lateral direction, and it mainly provides gradient, and it also has the axial gradient component simultaneously; 7c is the birdcage deflection coil, and the field intensity on the shaft section is provided, and is used to adjust radially (with respect to the sick bed axis) field intensity component of magnetic Micro-Robot position.Each organizes filling insulating barrier between the coil so that not conducting and reinforce the lamination order no requirement (NR) each other.Coil is optimized by various Technologies, obtains low-power consumption, high linearity, compactness and drive system efficiently.
In drive coil configuration example shown in Figure 5, three groups of coils all adopt the multiturn lattice coil of axially symmetric structure, and form is comparatively simple.In 4 groups of coils shown in the figure, two groups of the insides are for facing upward the coil of bowing, and the outside is a deflection coil for two groups, and their function is identical with each the coil function described in Fig. 4, and its arrangement is to consider the ratio that will as far as possible increase coil space and winding volume in proper order.At least from inside to outside second group of pitching coil in these 4 groups of coils, promptly radially the pitching coil can rotate around the sick bed axis.
Described motion actuating unit 8 comprises coil movement executor 8a and bed motion executor 8b, generally with motor as power.Drive coil is supported by coil brace 10, and both are connected by lubricated good revolute pair, and all or part of coil accurately rotates around sick bed 6 under coil motion actuators 8a drives; Sick bed 6 is supported by base 11, and base 11 has two double-lengths of a body at least, can utilize the kinds of drive such as leading screw, is driven along the accurate translation of self axis by bed motion executor 8b.The adjustment of the collaborative 9 pairs of coil loading currents of coil power of these mechanism kinematics can obtain suitable driving magnetic field.Pitching coil 7b as described in Figure 4 rotatablely moves longitudinally around sick bed 6, cooperates the electric current of drive coil 7 to load, and can obtain effective space magnetic field gradient, promptly obtains effective non-coplanar force; Deflection coil group 7c, add the relative translation of sick bed 6, can obtain suitable space field intensity value in magnetic Micro-Robot 1 position, thereby obtain suitable magnetic torque, when not auxiliary attitude adjustment requires, dynamically adjust magnetic Micro-Robot 1 position for low place, adjust required particular field strength value otherwise be adjusted into attitude.Wherein sick bed 6 translations are used to adjust the longitudinal field strong component of magnetic Micro-Robot 1 position.
The particular exam process is: at first, magnetic Micro-Robot 1 is opened switch, and image acquiring device 1b, microprocessor 1c and little photographing module 1d start working.Magnetic Micro-Robot 1 is swallowed in the abdomen by the examinee, enters examinee's digestive tract 12, wireless image information of sending out digestive tract 12, and by the antenna reception at external treatment center 2, processing center 2 is handled the back at screen display then; The examinee couches on the non magnetic sick bed 6, and sick bed 6 is along the axis translation, and the examinee is pushed near drive coil 7 active regions.Then system begins initialization.
The medical care operator send system initialization commands by processing center 2, external driver device 4 beamhouse operations, the positional information that position detecting device 5 detects magnetic Micro-Robot 1 offers processing center 2, if magnetic Micro-Robot 1 is not in low place, then processing center 2 is sent instruction to bed motion executor 8b and coil power 9, sick bed 6 longitudinal translations, make magnetic Micro-Robot 1 be in the plane that low place comprises, adjust deflection coil group 7c loading current simultaneously, low place moves to magnetic Micro-Robot 1 position, and so far system initialization finishes;
Then, the medical care operator are according to digestive tract image information operation operation of diagnosis and treatment device 3, different control actions such as obtain deflection, pitching, advance, stop, be converted to electric current and telecontrol equipment control signal by processing center 2, send to coil power 9 and to advance, pitching coil 7a, 7b electric current load instructions, send the instruction that rotatablely moves, thereby obtain necessary driving force to coil movement executor 8a.Generally speaking, under processing center 2 is controlled automatically, collaborative magnetic Micro-Robot 1 position of adjusting of deflection coil group 7c and bed motion executor 8b is low place, if the auxiliary attitude requirement of adjusting is arranged, then open magnetic torque switch on the operation of diagnosis and treatment device 3, deflection coil group 7c loading current is controlled by the medical care operator;
Driving magnetic field acts on the magnetic Micro-Robot 1 that contains embedded magnet, magnetic Micro-Robot 1 is moved under the direct force of controlled gradient magnetic and moment loading, under the control of magnetic field, can finish action requests such as translation, pitching, deflection effectively, thereby can locate the emphasis section and suspect that section carries out scrutiny and treatment to the examinee.
Obviously, those skilled in the art can comprise drive coil, sick bed and associated mechanisms motion thereof to drive system of the present invention, and magnetic Micro-Robot position detection means carries out various changes and modification and do not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1, detector external magnetic field driving apparatus in a kind of body, comprise that soft shell is built-in with the little photographing module (1d) of electrical connection and the magnetic Micro-Robot (1) of unlimited transmitter module (1b), and the external driver of reception that is electrically connected mutually and processing center (2) composition, it is characterized in that:
1.1, said magnetic Micro-Robot (1) is built-in with the embedded magnet of Micro-Robot (1a);
1.2, said external driver also comprises mobile sick bed (6) and is set in its outer drive coil (7), and operation of diagnosis and treatment device (3), wherein, drive coil (7) is by the coil of advancing (7a), pitching coil (7b) and the mutual stacked formation of deflection coil (7c), and said coil (7), mobile sick bed (6) and operation of diagnosis and treatment device (3) are electrically connected with processing center (2).
2, detector external magnetic field driving apparatus in the body according to claim 1 is characterized in that magnetic Micro-Robot (1) is built-in with the internal microprocessor (1c) that is electrically connected with unlimited transmitter module (1b).
3, detector external magnetic field driving apparatus in the body according to claim 1 is characterized in that mobile sick bed (6) is positioned on the base (11), and is connected movingly with it, and coils actuator (8a) is fixedly connected with base (11).
4, detector external magnetic field driving apparatus in the body according to claim 1 is characterized in that drive coil (7) is positioned on the coil brace (10), and is connected movingly with it, and coils actuator (8b) is fixedly connected with coil brace (10).
5, according to detector external magnetic field driving apparatus in claim 1 or the 4 described bodies, the coil (7a) that it is characterized in that advancing is the cylinder of semicircle arcuation, and it is cylindrical axially parallel with the moving direction of mobile sick bed (6).
6,, it is characterized in that pitching coil (7b) is symmetric lunette shape, lays respectively at the both sides of mobile sick bed (6) moving direction according to detector external magnetic field driving apparatus in claim 1 or the 4 described bodies.
7, according to detector external magnetic field driving apparatus in claim 1 or the 4 described bodies, it is characterized in that deflection coil (7c) is cylindrical birdcage shape, it is columniform axially parallel with the moving direction of mobile sick bed (6).
Detector external magnetic field driving apparatus in 8 bodies according to claim 1, it is characterized in that operation of diagnosis and treatment device (3) is the three-dimensional manipulating bar, wherein, the dimension of advancing of three-dimensional manipulating bar, pitching peacekeeping deflection dimension are electrically connected with processing center (2) through analog-digital converter respectively, and the outfan of processing center (2) is electrically connected with the coil of advancing (7a), pitching coil (7b) and deflection coil (7c) respectively through digital to analog converter.
9, detector external magnetic field driving apparatus in the body according to claim 8, it is characterized in that digital to analog converter and the coil of advancing (7a), pitching coil (7b) and deflection coil (7c) between be electrically connected with coil drive power supply (9).
10, the driving method of detector external magnetic field driving apparatus in the body according to claim 1 comprises the signal that receives magnetic Micro-Robot (1) and the signal output that comes the control volume outer driver thus, it is characterized in that:
Set the initial parameter of advance coil (7a), pitching coil (7b), deflection coil (7c) and mobile sick bed respectively, and the corresponding work timeslice, the time reference of a time-sharing work of generation;
After above-mentioned work slice finishes, signal according to little photographing module (1d) and processing center (2), and the output of operation of diagnosis and treatment device (3), determine the operating current and the anglec of rotation of the displacement of mobile sick bed (6), the coil of advancing (7a) and pitching coil (7b), deflection coil (7c);
The particular exam process is: magnetic Micro-Robot (1) is opened switch, image acquiring device (1b), microprocessor (1c) and wireless communication apparatus (1d) are started working, magnetic Micro-Robot (1) is swallowed in the abdomen by the examinee, enter examinee's digestive tract (12), wireless image information of sending out digestive tract (12), antenna by external treatment center (2) receives, and processing center (2) is handled the back at screen display then; The examinee couches on the non magnetic sick bed (6), and sick bed is along the axis translation, the examinee is pushed to drive coil (7) active region near system begin initialization;
The medical care operator send system initialization commands by processing center (2), external driver device (4) beamhouse operation, the positional information that robot location's checkout gear (5) detects magnetic Micro-Robot (1) offers processing center (2), if the magnetic Micro-Robot is not in low place, then processing center (2) is sent instruction to bed motion executor (8b) and coil power (9), sick bed (6) longitudinal translation, make magnetic Micro-Robot (1) be in the plane that low place comprises, adjust deflection coil group (7c) loading current simultaneously, low place moves to magnetic Micro-Robot (1) position;
The medical care operator are according to digestive tract image information operation operation of diagnosis and treatment device (3), obtain deflection, pitching, advance, stop different control actions, be converted to electric current and telecontrol equipment control signal by processing center (2), send to coil power (9) and to advance, pitching coil (7a, 7b) electric current load instructions, coil movement executor (8a) in motion actuating unit (8) sends the instruction that rotatablely moves, thereby acquisition necessary driving force, under processing center (2) is controlled automatically, collaborative magnetic Micro-Robot (1) position of adjusting of deflection coil group (7c) and bed motion executor (8b) is low place, if the auxiliary attitude requirement of adjusting is arranged, then open magnetic torque switch on the operation of diagnosis and treatment device (3), deflection coil group (7c) loading current is controlled by the medical care operator;
Driving magnetic field acts on the magnetic Micro-Robot (1) that contains embedded magnet, magnetic Micro-Robot (1) is moved under the direct force of controlled gradient magnetic and moment loading, under magnetic field control, finish translation, pitching, deflection action requirement, according to location emphasis section with suspect that section checks the examinee and treat.
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